A novel approach for robot homing

Date

2003-06-27

Author

Koku, Ahmet Buğra
WİLKES, D Mitch

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

185
views

0
downloads

Although metric navigation techniques have been widely adapted in robot navigation, some powerful qualitative navigation methods have been proposed to achieve navigation. These methods do not require strict metric measures or presence of metric maps. This paper briefly introduces such qualitative navigation techniques and introduces a novel approach for qualitative robot navigation. Comparison of this method to some existing ones is given and performance analysis is presented. This technique requires less amount of information and its performance is comparable to other similar methods.

Subject Keywords

Egocentric navigation, Homing behavior, Qualitative navigation

URI

https://hdl.handle.net/11511/41962

DOI

https://doi.org/10.1109/cca.2003.1223232

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

A Test Setup for Evaluating Long-term Measurement Characteristics of Optical Mouse Sensors Kanburoglu, Furkan A; Dölen, Melik; Koku, Ahmet Buğra (2007-06-01) Due to significant advancements in optical navigation technology, optical mouse sensors (OMS) are increasingly employed as low-cost motion sensora in personal computing and robot navigation. This paper proposes a new test bed to study the long-term measurement characteristics of emerging OMS devices. With the utilization of this set-up, the attributes of a high-resolution OMS (Agilent ADNS-2051) are investigated under various critical operating conditions like changing surface velocity and the pattern. The ...
Enhancing positioning accuracy of GPS/INS system during GPS outages utilizing artificial neural network Kaygisiz, Burak H.; Erkmen, Aydan Müşerref; Erkmen, İsmet (Springer Science and Business Media LLC, 2007-06-01) Integrated global positioning system and inertial navigation system (GPS/INS) have been extensively employed for navigation purposes. However, low-grade GPS/INS systems generate erroneous navigation solutions in the absence of GPS signals and drift very fast. We propose in this paper a novel method to integrate a low-grade GPS/INS with an artificial neural network (ANN) structure. Our method is based on updating the INS in a Kalman filter structure using ANN during GPS outages. This study focuses on the des...
Toward egocentric navigation Kawamura, Kazuhiko; Koku, Ahmet Buğra; Wilkes, Mitchell; Peters, Richard Alan; Sekmen, Ali (ACTA Press, 2002-11-01) A method for egocentric navigation of mobile robots is described. Each robot has a local short-term memory structure called the Sensory Egosphere (SES), which is indexed by azimuth, elevation, and time. Directional sensory processing modules write information on the SES at the location corresponding to the source direction. Each robot has a partial map of its operational area that it has received a priori. The map is populated with landmarks and is not necessarily metrically accurate. Each robot is given a ...
A comparative study on tightly coupled visual aided inertial navigation systems for unmanned aerial vehicles İnce, Talha; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2018) An Inertial Navigation System (INS) is a combination of hardware (accelerometers and gyroscopes) and algorithms to calculate the position, orientation and velocity of a mobile platform. Because of the need to integrate the measurements over time, INS is subjected to cumulative error characteristics, hence cannot provide an accurate navigation solution over long durations. Global Positioning System (GPS) is often used for long time-long distance problems aiding INS. GPS relies on external signals received fr...
Comparison of EKF, EKF2 and UKF in a loosely coupled INS/GPS integration Jane, Hande; Baykal, Buyurman; Department of Electrical and Electronics Engineering (2018) Developing effective navigation solutions in land, sea, air, and space travels is an ever increasing necessity maintaining its validity. Nowadays, although a navigation aid called satellite based Global Positioning System (GPS) is used to develop a navigation solution, standalone GPS cannot achieve the desired accuracy in some applications. For this reason, GPS measurements are integrated with the Inertial Navigation System (INS) to develop an enhanced accurate integrated navigation solution. Extended Kalma...

Citation Formats

A. B. Koku and D. M. WİLKES, “A novel approach for robot homing,” 2003, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/41962.